考虑迟滞特性的自增容弹性压力油箱建模研究

doi:10.3969/j.issn.1004-132X.2026.02.002

摘要/Abstract

摘要：

为满足高端移动装备对液压油箱高承压、轻量化的需求，提出一种自增容弹性压力油箱。采用橡胶-编织组合材料代替传统金属油箱壁面，利用橡胶柔性变形和外置编织纤维防护增强特性，实现系统中油液体积补偿并输出压力油液。基于编织纤维几何特性、壳体受力分析，建立油箱理想静态数学模型，并引入Maxwell迟滞模型进行修正，得到其结构参数与体积、压力的关系。基于流量方程、受力平衡方程和容积公式得到油箱动态非线性数学模型。在油箱位移/压力迟滞特性试验的基础上进行模型参数辨识。研究结果表明：所设计油箱样机最大压力为530 kPa，质量仅950 g。正弦响应下油箱跟随液压缸运动特性良好。随着阶跃幅值的增大，进油工况下压力增大时间和变化幅值逐渐增大。

关键词: 液压元件, 轻量化, 压力油箱, 数学模型, 迟滞特性, 编织纤维

Abstract:

To meet the demands for high-pressure， lightweight hydraulic reservoirs in high-end mobile equipment， a self-expanding elastic pressurized reservoir （SEPR） was proposed. The rubber-woven composite material was used to replace the traditional metal reservoir shell. The system achieved oil volume compensation and pressure output through the flexible deformations of rubber and the reinforcement provided by the external woven fiber. Based on the geometric characteristics of the woven fiber and the force analysis of the shell， the ideal static mathematical model of the SEPR was established， and the Maxwell hysteresis model was introduced to modify the model. The relationships among SEPR structural parameters， volume， and pressure were obtained. Based on the flow equation， force balance equation， and volume formula， the dynamic nonlinear mathematical model of the SEPR was established. Based on the tests of displacement/pressure hysteresis characteristics of the SEPR， the model parameters were identified. The results show that the SEPR may reach a maximum pressure of 530 kPa while weighing only 950 g. The SEPR exhibits strong motion-tracking behavior with the hydraulic cylinder under sinusoidal excitation. As the step amplitude increases， both of the pressure rise time and the pressure change amplitude increases under the oil inlet conditions.

Key words: hydraulic component, lightweight, pressurized reservoir, mathematical model, hysteresis characteristic, woven fiber

中图分类号:

TH137

姚静, 王定煜, 梁栋, 郝金鹿, 何蔼雯. 考虑迟滞特性的自增容弹性压力油箱建模研究[J]. 中国机械工程, 2026, 37(2): 264-274.

YAO Jing, WANG Dingyu, LIANG Dong, HAO Jinlu, HE Aiwen. Modeling of Self-expanding Elastic Pressurized Reservoir Considering Hysteresis Characteristics[J]. China Mechanical Engineering, 2026, 37(2): 264-274.

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链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2026.02.002

https://www.cmemo.org.cn/CN/Y2026/V37/I2/264

图/表 27

图1 自增容弹性压力油箱结构组成

Fig.1 Structure of the SEPR

图2 自增容弹性压力油箱变形对比

Fig.2 Comparison of the SEPR deformation

图3 单根纤维的几何关系

Fig.3 Geometric relationship of single fiber

图4 油箱壳体受力分析图

Fig.4 Diagram of force analysis of the SEPR shell

图5 橡胶弹性模量对油箱静态性能的影响规律

Fig.5 The influence of elastic modulus of rubber on static properties of the SEPR

图6 壳体厚度对油箱静态性能的影响规律

Fig.6 The influence of shell thickness on static properties of the SEPR

图7 初始编织角对油箱静态性能的影响规律

Fig.7 The influence of the initial woven angle on static properties of the SEPR

图8 Maxwell-slip元素

Fig.8 Element of Maxwell-slip

图9 并联Maxwell模型

Fig.9 Parallel Maxwell models

图10 油箱简化模型

Fig.10 A simplified model of the SEPR

图11 油箱单自由度系统

Fig.11 Single degree of freedom system for the SEPR

表1 油箱样机结构参数

Tab.1 Structural parameters of the reservoir prototype

参数	初始值	最大压力状态时
长度L/m	0.17	0.14
弹性壳体外半径R/m	0.029	0.041
弹性壳体厚度t/mm	1.50	1.05
油箱结构容积V_Δ/L	0.4	0.6
油箱压力p/kPa	0	530
编织角θ/（°）	36.0	51.5
弹簧刚度K/（N·m $- 1$ ）	2000
工作容积V_Δ/L	0.2
质量m/g	950

表1 油箱样机结构参数

Tab.1 Structural parameters of the reservoir prototype

参数	初始值	最大压力状态时
长度L/m	0.17	0.14
弹性壳体外半径R/m	0.029	0.041
弹性壳体厚度t/mm	1.50	1.05
油箱结构容积V_Δ/L	0.4	0.6
油箱压力p/kPa	0	530
编织角θ/（°）	36.0	51.5
弹簧刚度K/（N·m $- 1$ ）	2000
工作容积V_Δ/L	0.2
质量m/g	950

图12 油箱样机实物图

Fig.12 Diagram of the SEPR prototype

表2 液压测试系统参数

Tab.2 Parameters of hydraulic testing system

参数	数值
系统压力/MPa	10
系统流量/（L·min $- 1$ ）	2.4
液压缸缸径/mm	25
液压缸杆径/mm	16
液压缸行程/mm	200

表2 液压测试系统参数

Tab.2 Parameters of hydraulic testing system

参数	数值
系统压力/MPa	10
系统流量/（L·min $- 1$ ）	2.4
液压缸缸径/mm	25
液压缸杆径/mm	16
液压缸行程/mm	200

图13 油箱静态性能测试原理

Fig.13 Schematic of static performance testing of the SEPR

图14 Maxwell模型拟合油箱迟滞特性曲线

Fig.14 Reservoir hysteresis characteristic curve fitted by Maxwell’s model

表3 Maxwell单元参数

Tab.3 Parameters of Maxwell unit

参数	阶段1	阶段2	阶段3
K	$-$ 0.0529	0.645	$-$ 0.577
w	$-$ 1.058	17.415	$-$ 16.3291

表3 Maxwell单元参数

Tab.3 Parameters of Maxwell unit

参数	阶段1	阶段2	阶段3
K	$-$ 0.0529	0.645	$-$ 0.577
w	$-$ 1.058	17.415	$-$ 16.3291

图15 进油时油箱位移-压力曲线

Fig.15 Displacement-pressure curve of the SEPR at oil absorption condition

图16 进排油时油箱位移-压力迟滞特性曲线

Fig.16 Displacement-pressure hysteresis characteristic curve of the SEPR at oil absorption and discharging condition

图17 阶跃输入幅值20 mm时仿真曲线

Fig.17 Simulation curve in a step input condition with an amplitude of 20 mm

图18 阶跃输入幅值40 mm时仿真曲线

Fig.18 Simulation curve in a step input condition with an amplitude of 40 mm

图19 阶跃输入幅值50 mm时仿真曲线

Fig.19 Simulation curve in a step input condition with an amplitude of 50 mm

表4 阶跃响应结果

Tab.4 Results of the step response

阶跃幅值/mm	20	40	50
上升时间/s	0.362	0.672	0.808
压力变化幅值/kPa	88	227	328

图20 正弦输入频率0.1 Hz、幅值50 mm时仿真曲线

Fig.20 Simulation curve in a sinusoidal input condition with 0.1 Hz±50 mm

图21 动态性能测试原理

Fig.21 Schematic of dynamic performance testing

图22 阶跃输入幅值30 mm时油箱压力曲线

Fig.22 Pressure curve of the SEPR in a step input condition with an amplitude of 30 mm

图23 正弦输入频率0.1 Hz、幅值50 mm时油箱位移曲线

Fig.23 Displacement curve of the SEPR in a sinusoidal input condition with 0.1 Hz±50 mm

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